CN113693670B - Orthopedic nail placing device and system - Google Patents

Abstract

The invention relates to an orthopedic nailing device system, wherein the orthopedic nailing device comprises a power drill mechanism and a feeding mechanism; the surgical tool is arranged on the power drill mechanism; the power drill mechanism comprises a motor, and the motor drives the surgical tool to rotate; the feeding mechanism comprises a bottom plate, a linear motor and a linear guide rail, wherein the linear motor and the linear guide rail are arranged on the bottom plate; the feeding mechanism is connected with the power drilling mechanism, and the power drilling mechanism is driven by the linear motor to do linear reciprocating motion along the linear guide rail, so that the feeding motion of the surgical tool is realized. The orthopedic implant operation system comprises an orthopedic implant device and computing equipment and/or a control center connected with the orthopedic implant device, so as to acquire information of the orthopedic implant device for information processing and perform function control on the orthopedic implant device.

Description

Orthopedic screw placement device and system

technical field

The invention relates to the technical field of medical devices, in particular to an orthopedic nail placement device and system.

Background technique

Pedicle screw insertion is a very common operation. Pedicle screws play an important role in the treatment of spinal trauma reduction and deformity correction. The key to the success of pedicle screw internal fixation is whether it can be accurately inserted Screws are placed through the pedicle without damaging the nerve vertebral body.

At present, there is no automatic or semi-automatic pedicle screw insertion surgical tool that can be directly used in orthopedic surgical robots. The currently known orthopedic robots are only used for navigation and positioning to the lesion, and doctors perform orthopedic implantation surgery with bare hands; or use low-speed power drills to manually insert screws. When the doctor taps and inserts the nails with bare hands, the doctor needs to pay a lot of physical strength, and because the hardness of the cortical bone is high, when the doctor manually reams the hole, he often needs to use tools such as a hammer to knock in. This operation has a relatively large impact on the human body. The impact force is prone to accidental injury; what's more, when screwing in the screws by hand, the last tightening torque cannot be effectively controlled. When using a low-speed power drill for tapping and setting screws, the doctor lacks the feeling of screwing in with bare hands, and it is difficult to judge whether the screw is in place; adding a navigation marker frame to the tool end such as tapping and low-speed power drill, although it can track the tip of the tool in real time The position in the bone, but due to human reaction and physiological fatigue, there will be a time delay, resulting in inaccurate depth.

Therefore, it is necessary to provide an orthopedic nail placement device that is convenient and easy to operate, accurate in the position of orthopedic implantation surgery, can improve surgical efficiency, and reduce surgical injuries.

Contents of the invention

The object of the present invention is to provide an orthopedic nail placement device and system with convenient and easy operation and accurate surgical position.

In order to realize the object of the present invention, the following technical solutions are provided:

An orthopedic nailing device includes a power drill mechanism, on which a surgical tool is installed; the power drill mechanism includes a motor, and the motor drives the surgical tool to rotate; the orthopedic nail device also includes a feeding mechanism; The feeding mechanism includes a base plate, a linear motor and a linear guide rail installed on the base plate; the feeding mechanism is connected to the power drill mechanism, and the linear motor drives the power drill mechanism to make a linear reciprocating motion along the linear guide rail to realize the feeding of surgical tools sports.

In some embodiments, the feed mechanism also includes a moving seat; the moving seat is connected with the power drill mechanism and the mover of the linear motor, and the mover of the linear motor drives the moving seat to drive the power drill mechanism to move linearly; A slider is provided on the guide rail, and the slider is slidably matched along the linear guide rail; the moving seat is connected with the slider, and slides relative to the slider along the linear guide rail; the feeding mechanism further includes a pressure sensor for detecting operation The resistance encountered by the tool during the advancing process; the pressure sensor is installed between the moving seat and the power drill mechanism; a limit switch is also set on the feed mechanism and/or power drill mechanism to detect or limit The position where the power drill mechanism moves.

In some embodiments, the motor of the power drill mechanism is installed on the motor mounting base; the motor mounting base and the moving base are connected through a guide rod, and together move linearly and reciprocatingly along the linear guide rail; the linear guide rail includes two sliders; The moving base is installed on a slider of the linear guide rail; the motor mounting base is installed on the other slider; the orthopedic nailing device also includes a reducer, and the surgical tool is connected to the output shaft of the reducer; The rotation output of the motor of the power drill mechanism is transmitted to the reducer, and the output shaft of the reducer drives the surgical tool to rotate; the limit switch includes a photoelectric switch and an induction sheet; the photoelectric switch is installed on the base plate, and the induction sheet is installed on the mobile seat and /or on the power drill mechanism; the power drill mechanism is limited by the cooperation of the induction sheet and the photoelectric switch.

In some embodiments, the feeding mechanism includes a pair of linear guide rails; both sides of the moving base are respectively installed on a slider of the pair of linear guide rails, and both sides of the motor mounting base are respectively installed on a slider. On the other slider of the linear guide rail; a pair of photoelectric switches are installed on both sides of the bottom plate, and a pair of induction sheets are respectively installed on the moving seat and the motor installation seat. Front and back position during reciprocating motion.

In some embodiments, the power drill mechanism further includes a speed increaser; the speed increaser is installed on the speed reducer for clamping the surgical tool; the secondary output shaft of the speed reducer is connected to the input shaft of the speed increaser , to achieve the effect of speed increase; the speed increaser is equipped with a drill chuck, which holds the surgical tool; the drill chuck is coaxially connected with the output shaft of the speed increaser; the speed reducer is equipped with a quick release joint for clamping holding the surgical tool; the quick release joint is coaxially connected with the output shaft of the reducer, and the surgical tool can be detachably clamped; when the orthopedic nailing device implements the guide pin insertion, the speed increaser and the reducer are connected in sequence to achieve High-speed output; when reaming, tapping and nailing operations, use a reducer to achieve low-speed and high-torque output.

In some embodiments, the power drill mechanism includes a torque sensor and an adapter, one end of the mandrel shaft of the torque sensor is connected to the motor of the power drill mechanism through the adapter, and the other end is connected to the input shaft of the reducer, so that the motor The rotational movement of the torque sensor is transmitted to the reducer to drive the rotation of the surgical tool; the motor drives the torque sensor mandrel to rotate, and the torque is detected by the torque sensor; the moving seat is provided with a shaft hole; the mandrel of the torque sensor The other end passes through the shaft hole on the moving seat and is connected with the input shaft of the speed reducer.

In some embodiments, the orthopedic nail setting device further includes a reducer mounting seat for supporting the reducer; the feeding mechanism further includes a linear bearing; the guide rod passes through the linear bearing, and the two ends are respectively It is connected with the motor mounting base and the moving base; the linear bearing can perform linear reciprocating motion along the guide rod; the reducer mounting base is connected to the linear bearing, and performs linear reciprocating motion along with the linear bearing; the feed The mechanism further includes a fixed sensor block, which is respectively fixed to the pressure sensor and the mounting seat of the reducer, and the pressure detection is realized through the relative movement between the mounting seat of the reducer and the moving seat.

In some embodiments, the surgical tool includes one or more of a guide pin, a reaming cone, and a bone screw connected to an extender; the orthopedic nailing device also includes a guide pin fixing device for positioning the guide pin. mechanism; the guide pin fixing mechanism includes a fixed support, a connecting rod installation block, a pair of clamping blocks and at least one pair of connecting rods; the fixed support is installed on the bottom plate, and the connecting rod installation block is installed on the fixed support On the seat; one end of the connecting rod is movably connected to the connecting rod mounting block, and the other end is connected to the clamping block; a pair of clamping blocks are locked together by fasteners to clamp and fix the guide pin.

In some embodiments, the guide pin fixing mechanism includes a pair of long connecting rods and a pair of short connecting rods; each end of the pair of long connecting rods is rotatably installed on both sides of the connecting rod mounting block; Each end of the connecting rod is rotatably installed on both sides of the connecting rod mounting seat; the other end of a long connecting rod and a short connecting rod are connected and fixed on a clamping block; a pair of clamping blocks are connected by thumb screws Locked together, the guide pin is clamped between a pair of clamping blocks.

In some embodiments, the orthopedic nailing device also includes a housing and a cross laser system; the cross laser system is installed at the front end of the housing; the orthopedic nailing device also includes a binocular camera, and the binocular camera Installed on the front end of the feeding mechanism and connected to the computing device or the control center; the power drill mechanism is provided with a navigation surface, and the navigation surface is provided with a visible light visual recognition tracking pattern adapted to the binocular vision camera, which is tracked by the binocular camera Navigation surface for tracking and monitoring; the orthopedic nail setting device also includes a catheter mechanism; the catheter mechanism is installed on the front end of the base plate; the catheter mechanism includes a catheter, a catheter locking seat and a catheter base; the catheter is locked through the catheter The through hole of the seat is installed in the catheter locking seat; the catheter locking seat is detachably installed on the catheter base; the catheter mechanism also includes an up and down adjustment seat and an adjustment base; the catheter base is installed on the up and down adjustment seat The upper and lower adjustment seats are installed on the adjustment base, and the adjustment base is installed on the bottom plate; the upper and lower adjustment seats can move up and down relative to the adjustment base to adjust the height and position; the orthopedic nail placement device also includes a control circuit, and Equipment and/or control center electrical and communication connections.

The present invention also provides an orthopedic implant surgery operating system, including an orthopedic screw placement device and a computing device and/or control center connected to the orthopedic nail device; the computing device and/or control center includes a processor and a storage medium, Information processing and functional control of the orthopedic screw-setting device are performed by acquiring information of the orthopedic screw-setting device.

Compared with the prior art, the present invention has the following advantages:

The orthopedic nail setting device of the present invention provides the driving force of the linear reciprocating motion of the power drill mechanism through the feed mechanism. The feed mechanism adopts a linear motor, combined with the power drill driving device to clamp the surgical tools such as guide pins, reaming cones, The drive of surgical tools such as taps and pedicle screws, so as to realize orthopedic implant surgery. Using the orthopedic nail placement device of the present invention for orthopedic implant surgery, the implant operation process is stable, and compared with artificial orthopedic implant surgery, the impact on the human body is small, the operation efficiency and the accuracy of orthopedic implant surgery are improved, and bare hands can be avoided. Possible accidental injuries during orthopedic implant surgery.

Further, the orthopedic nailing device of the present invention is also equipped with a pressure sensor to complete the real-time measurement of the pressure, which can measure the resistance encountered by the surgical tool in the process of advancing in the various procedures of orthopedic implant surgery; A torque sensor is provided between the clamping mechanisms, through which the torque of the pedicle screw during the entire insertion process can be accurately measured, thereby intelligently judging whether the screw has been placed in place, and avoiding the screw being in the pedicle due to There is no loosening caused by fastening, which improves the success rate and accuracy of the operation.

The orthopedic screw placement device of the present invention can also be fixed to the orthopedic surgery robot arm through the installation interface, and can accurately control the parameters of each link of the nail placement operation according to the preoperative operation plan, reducing the deviation caused by manual operation, making the operation The accuracy is guaranteed, and the labor intensity of the doctor is reduced at the same time.

Furthermore, the orthopedic screw placement system of the present invention combines the orthopedic screw placement device with a binocular vision system and a control center to form a complete surgical operating system to realize intelligent orthopedic surgery operations, and can track intelligence through the binocular vision system. The operation status of the orthopedic screw placement device is tracked and monitored to improve the accuracy of orthopedic implantation surgery and reduce the risk of surgery.

Description of drawings

Fig. 1 is an exploded view of an orthopedic nail placement device according to an embodiment of the present invention.

Fig. 2 is a perspective view of an orthopedic screw placement device according to an embodiment of the present invention.

Fig. 3 is a perspective view of the orthopedic nail placement device according to the embodiment of the present invention with part of the shell removed.

Fig. 4 is a perspective view of the orthopedic screw placement device according to the embodiment of the present invention when the reaming cone is clamped.

Fig. 5 is a perspective view of the orthopedic nail placement device clamping the nail placement surgical tool according to the embodiment of the present invention.

Fig. 6 is a schematic structural view of setting the navigation surface on the clamping mechanism of the orthopedic nail device according to the embodiment of the present invention, wherein the navigation surface is set on the reducer body in Fig. 6 (a), and the navigation surface is set on the increaser in Fig. 6 (b). on the accelerator.

Detailed ways

The orthopedic nail setting device of the present invention includes a power drill mechanism, including a power drill mechanism 1 and a linear feed mechanism 2 that is connected to the power drill mechanism 1 and is used to generate linear reciprocating motion variables. The power drill mechanism 1 includes a power drill driving device 12 and is composed of The driving device of the power drill is connected to a driven clamping mechanism 10 . The clamping mechanism 10 is used for clamping orthopedic surgical tools 6 such as guide pins 60 , reamers 61 , taps, bone screws 62 installed by extenders, and the like. Specifically, the power drill driving device 12 may adopt a driving motor. The present invention provides the driving force of the linear reciprocating motion of the power drill mechanism through the linear feed mechanism, combined with the driving control of the clamping mechanism by the power drill driving device, so as to realize the orthopedic implant surgery operation, so as to improve the operation efficiency and orthopedic implant surgery Accuracy, to avoid accidental injuries that may have been caused in previous free-hand orthopedic implantation operations.

Please refer to Figures 1-5. In this embodiment, an orthopedic implant surgery system includes a power drill mechanism 1, a linear feed mechanism 2, a surgical tool 6, a selectively used guide pin fixing mechanism 7, and a cross laser System 8 , optional catheter mechanism 3 , binocular camera 9 . The orthopedic implant surgery system of the present invention is often used as an operating device for orthopedic nail surgery.

The power drill mechanism 1 is connected to the linear feed mechanism 2, and the linear feed mechanism 2 generates linear reciprocating motion and drives the power drill mechanism 1 to linearly reciprocate. The power drill mechanism 1 includes a power drill driving device 12 and a surgical tool clamping mechanism 10 connected by the power drill driving device 12 . The clamping mechanism 10 is equipped with a surgical tool 6 which is an orthopedic implant surgery tool, and the power drill driving device 12 drives the surgical tool 6 to rotate. The power drill driving device 12 is generally a motor, and the power drill mechanism 1 also includes a motor mount 13 on which the motor is mounted. The motor mounting base 13 is connected with the linear feed mechanism 2, so that the feed mechanism 2 can drive the power drill mechanism 1 to move linearly, and the surgical tool can be pushed into the surgical site.

Specifically, the linear feed mechanism 2 includes a bottom plate 29 , a linear motor 20 mounted on the bottom plate 29 , a pair of linear guide rails 2 , a moving seat 23 , a photoelectric switch 230 and an induction sheet 231 . The linear guide rail 21 has two sliders 210 , and the sliders 210 slide relative to the linear guide rail 21 without breaking away from the linear guide rail 21 . The moving base 23 is respectively connected with the linear motor 20 and the linear guide rail 21 and is driven by the linear motor 20 to generate linear reciprocating relative motion. Specifically, the moving base 23 is installed on the mover 201 of the linear motor, and is driven by the mover 201 to move linearly; meanwhile, the moving base 23 is installed on the slider 210 , and slides along the guide rail 21 together with the slider 210 . In this embodiment, the stator 200 of the linear motor is disposed between a pair of linear guide rails 21 . The linear motor 20 can be a flat linear motor or a U-groove linear motor. The linear guide rail 21 is fixedly installed on the base plate 29 , and the linear motor 20 is installed on the base plate 29 .

A pair of photoelectric switches 230 are installed on both sides of the bottom plate 29, and a pair of induction plates 231 are respectively installed on the moving seat 23 and the motor mounting base 13, and the linear reciprocating motion of the power drill mechanism 1 is restricted by the cooperation of the induction plates 231 and the photoelectric switches 230 When the front and rear positions will not exceed the limit, to avoid mechanical failure. The photoelectric switch 230 can adopt other limit switches for detecting and limiting the limit position of the power drill mechanism 1 . The photoelectric switch 230 can be an infrared light sensor, and can include an infrared receiving module and an infrared emitting module. When the moving base 23 or the motor mounting base 13 moves to move the sensing sheet 231 to the photoelectric switch 230, the infrared signal is blocked. The information of the photoelectric switch is sent to the control board or control center to control the linear motor on or off.

The power drill mechanism 1 is installed on the movable base 23 and moves together with the movable base 23 . The motor mounting seat 13 of the power drill mechanism 1 is connected with the moving seat 23 of the linear feed mechanism 2, specifically through the guide rod 17. In this embodiment, the guide shaft 17 is relatively slidably threaded with a linear bearing 18, and the guide shaft 17 is sleeved with a linear bearing 18. Both ends of the shaft 17 are connected to the motor mount 13 and the linear feed mechanism 2, so that the relative positions of the motor mount 13 and the linear feed mechanism 2 are fixed.

The moving base 23 is installed on one slider 210 of the linear guide rail 21 , and the motor mounting base 13 is installed on the other slider 210 of the linear guide rail 21 , and can perform linear reciprocating relative motion along the linear guide rail 21 . The linear bearing 18 is mounted on the guide rod 17 , and the linear bearing 18 can move relative to the guide rod 17 . The motor mounting base 13 is fixed together with the moving base 23 through the guide rod 17 , and together they can perform rectilinear reciprocating motion along the linear guide rail 21 . The linear bearing 18 is located between the motor mounting base 13 and the moving base 23, and is connected in series by the guide rod 17, and the linear bearing is driven by the motor mounting base 13 and the moving base 23 to reciprocate linearly together. A shaft hole (not shown) is arranged on the motor mounting base 13 and the moving base 23, and one end of each guide rod 17 is installed, and a through hole is arranged in the linear bearing 18, and the guide rod 17 passes through the through hole.

The linear feed mechanism 2 further includes a pressure sensor 26, the pressure sensor 26 is fixed on the moving seat 23, and is installed on the power drill mechanism 1 through the sensor fixing block 260, and the pressure sensor 26 is located between the linear feed mechanism 2 and the power drill. Between the drill mechanism 1, the pressure detection can be realized through the relative movement or interaction force between the linear feed mechanism 2 and the power drill mechanism 1 . The pressure sensor completes the real-time measurement of the pressure, which can measure the resistance of the surgical tool during the advancement of the surgical tools in each process of orthopedic implant surgery, so as to avoid the occurrence of surgical accidents. The power drill mechanism 1 includes a speed reducer 11 and a speed reducer mounting base 16 , the speed reducer 11 is used for installing and clamping the surgical tool 6 . The reducer mount 16 is fixed on the linear bearing 18, and can perform linear reciprocating motion along with the linear bearing 18. The sensor fixing block 260 is respectively fixed to the pressure sensor 26 and the reducer mounting base 16 , and the pressure detection can be realized through the relative movement between the reducer mounting base 16 and the moving base 23 . In this embodiment, the reducer mounting base 16 is a cover structure, which is arranged outside the moving base 23 , the torque sensor 15 and the motor mounting base 13 . The bottom edge of the reducer mounting base 16 is provided with a card slot (not shown), which is tightly fitted with the linear bearing 18. The linear bearing 18 is located between the sensor fixing block 260 and the motor mounting base 13, and the guide rod 17 passes through the straight line. The bearing 18 and the two ends of the guide rod 17 are respectively connected with the sensor fixing block 260 and the motor mounting seat 13 before and after the linear bearing, so as to slide together as a whole.

The power drill mechanism 1 also includes a torque sensor 15 , a servo motor 12 (both the driving device and the motor are indicated by reference numeral 12 ) and an adapter 14 . The torque sensor 15 is installed on the moving base 23, the servo motor 12 is installed on the motor mounting base 13, and the servo motor 12 is connected with the torque sensor 15 through the adapter 14, so that the servo motor 12 can drive the torque The sensor mandrel rotates, and the torque sensor mandrel rotates to drive the corresponding surgical tool 6 clamped in the reducer 11 to rotate, so as to perform relevant surgical operations such as channel establishment, hole reaming, tapping or nail placement. And the magnitude of the torque can be detected in real time by the torque sensor 15 . The torque sensor 15 can accurately measure the torque during the entire screw placement operation, thereby intelligently judging whether the surgical tool such as the bone screw has been placed in place, and avoiding the bone screw in the surgical site (such as the pedicle) due to lack of tightness. Loosening caused by solidification to improve the success rate and accuracy of the operation.

The clamping mechanism 10 of the power drill mechanism 1 is used for clamping the surgical tool 6 . The clamping mechanism 10 includes a reducer 11, the reducer 11 is installed on the reducer mount 16, the input shaft of the reducer 11 is connected with the torque sensor 15, and the servo motor 12 transmits the rotational motion to the reducer 11 through the torque sensor 15 superior. The speed reducer 11 is connected with a quick release joint 110 for detachable operation tool 6 . The quick-disconnect joint 110 can adopt a matching structure of a spring, a steel ball and a sleeve, so that the surgical tool 6 can be easily and quickly disassembled.

The nail setting device of the present invention also includes a speed increaser 19 cooperating with a speed reducer 11, so as to meet the different demands on the rotational speed of surgical operations such as guide needle insertion, hole reaming, tapping, and nail placement.

Among them, when the guide pin 60 is inserted, the speed increaser 19 and the speed reducer 11 are sequentially connected to realize high-speed output; when reaming, tapping and nailing operations are performed, only the speed reducer 11 can be used to achieve low speed and high speed. The output of the torque needs to dismantle the speed increaser 19 at this moment, and the quick release joint 110 behind the reducer 11 independently clamps the tools for reaming, tapping or nailing operations. Referring to Figures 2-3, when the guide pin 60 is inserted, the speed increaser 19 and the speed reducer 11 are sequentially connected to realize high-speed output. Referring to Figures 4-5, when reaming, tapping and nailing, only the speed reducer 11 can be used to realize the output of low speed and high torque, and the speed increaser 11 may not be used at this time.

Specifically, when the guide pin 60 is inserted, the speed increaser 19 is sequentially connected with the speed reducer 11 to realize high-speed output. At this time, the drill chuck 190 is used to clamp the guide pin and be installed on the speed increaser 19. The speed increaser 19 is coupled with the speed reducer 11, and the secondary output shaft of the speed reducer 11 is connected with the input shaft of the speed increaser 19 to realize the effect of speed increase. The speed increaser 19 is provided with a drill chuck 190, the speed increaser 19 and its drill chuck 190 clamp the guide pin forward, and the speed reducer 11 and the quick release joint 110 clamp backward for reaming, tapping or nail setting. Surgical tools. The quick release joint 110 is coaxially connected with the primary output shaft of the reducer 11 , and the drill chuck 190 is coaxially connected with the output shaft of the speed increaser 19 . The speed reducer 11 is connected with the power drill driving device 12 . The primary output shaft of the speed reducer 11 is coaxial with the output shaft of the speed increaser 19 . Therefore, the orthopedic implant surgery tool 6 such as the guide pin 60 is connected with the output shaft of the primary output shaft of the speed reducer 11 and the output shaft of the speed increaser 19, and is clamped by the drill chuck 190. /or the output shaft of the speed increaser 19 drives the surgical tool 6 (guide needle 60 ) to rotate.

Referring to Figures 4-5 again, the clamping mechanism 10 is a two-in-one multifunctional clamping mechanism for reaming/screwing surgical tools, including a reducer 11 and a quick release joint 110, a reducer 11, a torque sensor 15 and a power drill servo motor 12 phase connections. The reaming cone 61 or the bone screw 62 connected to the extender can be quickly connected to the speed reducer 11 through the quick release joint 110 . The reducer 11 can be connected with the torque sensor 15 through screws, so that the servo motor 12 can transmit the rotational motion to the reducer 11 through the torque sensor 15 .

The surgical tool 6 is a tool used for orthopedic implant surgery, including a guide pin 60, a reaming cone 61, and a bone nail 62 connected to an extender. The bone screw may be a pedicle screw. Select and use surgical tools 6 according to the operation plan for orthopedic surgery.

The orthopedic screw placement device of this embodiment further includes a guide pin fixing mechanism 7 for positioning the guide pin 60 .

The guide pin fixing mechanism 7 includes a fixing support 70 and a connecting rod mounting block 71 . The fixed support 70 is installed on the bottom plate 29 , and the connecting rod mounting block 71 is installed on the fixed support 70 . Specifically, the guide pin fixing mechanism 7 clamps the tail of the positioning guide pin 60, the fixed support 70 is installed on the tail of the base plate 29 and is fixed by a fastener such as a screw, and the connecting rod mounting block 71 is installed on the top of the fixed support 70. Fasteners such as screws fasten.

The guide pin fixing mechanism 7 further includes a clamping block 72 , a short link 73 , a long link 74 and fasteners such as thumb screws 75 . In this embodiment, one end of a pair of long connecting rods 74 is respectively installed on both sides of the connecting rod mounting block 71, and can rotate around the mounting point (rotating shaft or hinge); each end of a pair of short connecting rods 73 is respectively mounted on the connecting rod mounting seat 11, it can rotate around the mounting point (rotating shaft or hinge). A pair of clamping blocks 72 are respectively connected with the other end of a long connecting rod and a short connecting rod, and are fixedly connected, for example, the other ends of the long connecting rod and the short connecting rod are fastened to the clamping block by fastener screws. bottom of. The guide pin 60 can be clamped between the two clamping blocks 72 by locking the two clamping blocks 72 together by the thumb screw 75 (or other fasteners). Guide needle grooves are formed on opposite sides of the clamping blocks 72 , and when the two clamping blocks 72 are clamped, the guide needle grooves are closed to clamp the guide needle 60 in the grooves. In this embodiment, one end of each clamping block 72 is rotatably connected to one side of the connecting rod mounting block 71 by a long connecting rod 74 and a short connecting rod 73 arranged up and down. A step is formed at the bottom of the clamping block 72, thereby fixing the other ends of the long connecting rod 74 and the short connecting rod 73 up and down. The fastener thumb screw 75 locks the two clamping blocks 72 and is located on the top surface of the reducer mounting base 16 . Each clamping block 72 can also be rotatably connected to the connecting rod mounting block 71 only by a long connecting rod or a short connecting rod.

The orthopedic nailing device of this embodiment includes a housing 5, the housing 5 is installed on the bottom plate 29, and some parts of the feed mechanism 2 and the power drill mechanism 1 are accommodated therein, and the reducer 42 is installed on the reducer mounting seat 16 and protrudes upwards. To a certain height at the top of the shell 5, to install the orthopedic surgery tool 6.

The orthopedic nailing device of the present invention includes a cross laser system 8 . The cross laser system 8 is arranged at the front end of the orthopedic nail placement device, and the front shell 80 fixes the cross laser system 8 on the front end of the shell 5 to provide doctors with accurate skin incision positions of patients.

The orthopedic nailing device of the present invention includes a catheter mechanism 3 , which includes a catheter 35 , a locking knob 36 , a catheter locking seat 37 , a catheter base 34 , an up-down adjustment seat 30 and an adjustment base 31 . The conduit 35 passes through the installation hole of the conduit locking socket 37 and is installed in the locking socket 37 . The fastener such as the locking knob 36 is used to detachably install the locking seat 37 on the conduit base 34 for easy disassembly and assembly of the conduit and the conduit mechanism 37 . Referring to Figures 4-5, during reaming and orthopedic implantation operations, there is no need to use the catheter 35, so the catheter 35 and the catheter locking seat 37 are removed. The conduit base 34 is installed on the up and down adjustment base 30, and the up and down adjustment base 30 is installed on the adjustment base 31, the height can be adjusted through the up and down adjustment base, and positioned by fasteners such as thumb screws or pins. The adjusting base 31 is installed on the bottom plate 29 . The conduit mechanism 3 is installed on the front end of the shell 5 and the bottom plate 29 .

The orthopedic nailing device of the present invention includes a binocular camera 9, which is installed below the front end of the feed mechanism through a binocular mounting seat 90, and is fixed on the lower side of the base plate 29 or the linear guide rail 21 through a platform fixing seat 91. 9. Connect with computing equipment or control center for tracking identification and intraoperative monitoring. The computing device or control center may be a computing device or a console that is set on or outside the surgical robot, and is used to obtain information, perform information processing, and function control.

The present invention also provides an orthopedic screw placement system, comprising the above-mentioned orthopedic nail placement device, a binocular vision system, and a computing device or a control center, and the binocular vision system is connected to the computing device/control center. The computing device/control center includes a processor and a memory for obtaining information, data processing and functional control of the orthopedic screw placement device. The binocular vision system includes a binocular camera 9 used for spatial positioning of binocular vision, and the binocular camera 9 is connected to the computing device/control center.

In this embodiment, the feed mechanism 2 can be implemented in such a way that the linear guide rail 21 and the base plate 29 are fixedly installed, and the linear motor 20 is installed on the base plate 29, and the relative positions of the linear motor 20 and the linear guide rail 21 are fixed. The slider 210 is arranged on the linear guide rail 21 , and can perform linear reciprocating relative motion along the linear guide rail 21 , and the moving seat 23 is fixed on the slider 210 . The linear motor 20 drives the moving base 23 and the linear guide rail 21 to generate linear reciprocating relative motion. The precise positioning of the feed movement of the moving seat 23 is realized by the grating ruler 25 and the reading head 24 . The reading head 24 is installed on the moving base 23 through the reading head mounting base 22 , and may also be installed on the power drill mechanism 1 (for example, on the motor mounting base 13 ). The moving base 23 is provided with an induction sheet 231 , which cooperates with the photoelectric switch 230 to limit the limit position of the moving base 23 . The induction piece 231 can also be installed on the power drill mechanism 1 (for example, installed on the motor mounting base 13 ). The power drill mechanism 1 is installed on the mobile base 23 . In other embodiments, the moving seat 23 is located inside the front end of the reducer mounting seat 16, the motor mounting seat 13 is located inside the rear end of the reducer mounting seat 16, and the moving seat 23 is provided with an induction piece 231, which cooperates with the photoelectric switch 230 to define The limit position of moving seat 23 forwards. An induction piece 231 is arranged on the motor mounting base 13 to limit the limit position of the motor mounting base 13 moving backward. Two front and rear limit switch assemblies are set to limit the front and rear limit positions of the power drill mechanism.

In this embodiment, the power drill driven by the power drill mechanism 1 is a power drill servo motor 12, and a torque sensor 15 is provided between the power drill servo motor 12 and the clamping mechanism 10 of the orthopedic surgical tool. The torque sensor 15 can accurately measure the torque of the pedicle screw or orthopedic implant during the entire insertion process, thereby intelligently judging whether the screw or bone implant has been placed in place; Loosening caused by fastening, and the pedicle is twisted and exploded. The power drill servo motor 12 is installed on the motor mounting base 13, the clamping mechanism 10 is installed on the moving base 23, and a guide rod 17 is connected between the moving base 23 of the feed mechanism 2 and the motor mounting base 13, and on the guide rod 17 A linear bearing 18 is installed, and the motor mount 13 is installed on another slider 210 on the linear guide rail 21 .

The pressure sensor 26 is arranged between the power drill mechanism 1 and the moving seat 23 of the feed mechanism 2 to complete the real-time measurement of the pressure, and can measure the resistance encountered by the surgical tool in the process of advancing in each process of orthopedic implant surgery, Avoid surgical accidents.

In this embodiment, the fixed support 70 of the guide pin fixing mechanism 7 is installed on the bottom plate 29, and the clamping block 72 is connected to the speed reducer mounting base 16 and the speed reducer 11 through the long connecting rod 74 and the short connecting rod 73. At the rear, corresponding to the position of the quick release joint 110 , the fastener locks the two clamping blocks 72 together so as to clamp the guide pin 60 .

The implantation operation process of the bone screw generally includes the following steps: positioning, opening the bottom hole, tapping, and setting the nail. The orthopedic nailing device of the present invention can also be used for orthopedic operations for placing other implants. Conventional implants are bone screws, such as cannulated pedicle screws.

The orthopedic nailing device of the present invention further includes a guide pin fixing mechanism 7. In surgical procedures such as reaming, tapping, and nail placement using the guide pin 60 for guiding, the guide pin fixing mechanism 7 is used to guide the guide pin 60 Clamping fixed. The front end of the guide pin 60 is inserted into the catheter 35. First, the guide pin 60 is inserted according to the operation site and angle. Referring to Fig. Tools such as screw taps and bone nails connected to the extender are used for guidance; then replace the reaming cone 61, and with reference to Figure 4, ream the surgical site along the guide; finally replace the bone nail 62 connected to the The guide pin 60 is inserted into the screw, as shown in FIG. 5 . The conduit 35 is installed on or removed from the conduit base 34 by the conduit locking seat 37 . During the insertion process of the guide pin 60, the guide pin fixing mechanism 7 does not participate in the work.

The orthopedic screw placement device also includes a control circuit, which is used for controlling the operation of orthopedic implantation operation, and at the same time detecting the situation of orthopedic implantation operation. Specifically, the control circuit can be connected with the control center/computing device through RSS485 or CAN communication, and control various movements of the tool according to the preoperative plan. The orthopedic nail placement device also includes an installation interface through which the orthopedic nail placement device can be installed on the mechanical arm of an orthopedic surgical robot to realize intelligent semi-automatic orthopedic implant operation.

Referring to Fig. 6, a navigation surface 4 can be provided on the clamping mechanism of the power drill mechanism of the orthopedic nail setting device of the present invention, and the navigation surface can be provided on the body of the reducer 11; the navigation surface 4 is provided to be compatible with the binocular vision system Equipped with visible light visual recognition tracking pattern. The binocular vision system is used to track the navigation surface on the intelligent orthopedic nailing device for tracking and monitoring. The navigation surface 4 can also be arranged on the body of the speed increaser 19 .

The structures or components in the above embodiments can be combined or replaced to obtain other embodiments, which are still within the scope of the present invention, and the specific structures and working principles will not be repeated here.

The present invention provides the driving force of the linear reciprocating motion of the power drill mechanism through the feed mechanism, combined with the driving control of the power drill driving device on the clamping mechanism, the clamping mechanism mainly includes a reducer 11 and a quick release joint 110 for clamping Guide pins, reaming cones, taps or bone screws (such as pedicle screws) connected to the extender required in the operation, so as to realize orthopedic implantation operation, use the orthopedic nail device of the present invention for orthopedic implantation Surgery, the operation process is stable. Compared with artificial orthopedic implant surgery, it has less impact on the human body, and the operation efficiency and orthopedic implant surgery accuracy are higher, which can avoid accidental injuries that may be caused by free-hand orthopedic implant surgery.

The above descriptions are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereto. Any equivalent transformation based on the technical solution of the present invention falls within the protection scope of the present invention.

Claims (9)

1. An orthopedic nailing device, comprising a power drill mechanism and a feed mechanism; the power drill mechanism includes a motor, and the motor is installed on the motor mount; the surgical tool is installed on the power drill mechanism, and the motor drives the surgical tool to rotate; It is characterized in that the feed mechanism includes a bottom plate and a moving seat installed on the bottom plate, a linear motor and a linear guide rail; the moving seat is connected with the power drill mechanism and the mover of the linear motor, and is driven by the mover of the linear motor to move The seat drives the power drill mechanism to make a linear reciprocating motion along the linear guide rail to realize the feeding motion of the surgical tool; There are two sliders on the linear guide rail, and the sliders slide and fit along the linear guide rail; the moving seat is installed on one slider of the linear guide rail, and the motor mounting seat is installed on the other slider. The linear guide slides relatively; The motor mounting base and the moving base are connected through a guide rod, and together move linearly and reciprocatingly along the linear guide rail; The power drill mechanism also includes a speed reducer, the surgical tool is connected to the output shaft of the speed reducer; the rotation output of the motor of the power drill mechanism is transmitted to the speed reducer, and the output shaft of the speed reducer drives the operation tool to rotate; The orthopedic nailing device also includes a reducer mounting seat for supporting the reducer; The feeding mechanism also includes a linear bearing; the guide rod passes through the linear bearing, and the two ends are respectively connected with the motor mounting seat and the moving seat; the linear bearing can perform linear reciprocating motion along the guide rod; The mounting seat of the reducer is connected to the linear bearing, and performs linear reciprocating motion along with the linear bearing. 2. The orthopedic screw placement device as claimed in claim 1, wherein: The feeding mechanism further includes a pressure sensor, which is used to detect the resistance encountered by the surgical tool during the advancing process; the pressure sensor is installed between the moving seat and the power drill mechanism; A limit switch is also arranged on the feed mechanism and/or the power drill mechanism to detect or limit the position of the power drill mechanism; The limit switch includes a photoelectric switch and an induction sheet; the photoelectric switch is installed on the bottom plate, and the induction sheet is installed on the moving seat and/or the power drill mechanism; the power drill mechanism is limited by the cooperation of the induction sheet and the photoelectric switch. 3. The orthopedic screw placement device as claimed in claim 2, wherein: The power drill mechanism includes a speed increaser; the speed increaser is installed on the speed reducer for clamping the surgical tool; The output shaft of the reducer is connected with the input shaft of the speed increaser to realize the effect of speed increase; The speed increaser is provided with a drill chuck, and the drill chuck clamps the surgical tool; the drill chuck is coaxially connected with the output shaft of the speed increaser; A quick release joint is installed on the reducer for clamping surgical tools; the quick release joint is coaxially connected with the output shaft of the reducer to detachably clamp the surgical tool; When the orthopedic nail placement device performs guide pin insertion, the speed increaser and the speed reducer are sequentially connected to realize high-speed output; when reaming, tapping and nail placement operations are performed, the speed reducer is used to achieve low speed and high torque Output. 4. The orthopedic screw placement device according to claim 1, wherein: The power drill mechanism includes a torque sensor and an adapter. One end of the mandrel shaft of the torque sensor is connected to the motor of the power drill mechanism through the adapter, and the other end is connected to the input shaft of the reducer, so that the rotational motion of the motor passes through the torque sensor It is transmitted to the reducer to drive the rotation of the surgical tool; the motor drives the shaft of the torque sensor to rotate, and the torque is detected by the torque sensor; A shaft hole is provided on the moving seat; the other end of the mandrel of the torque sensor passes through the shaft hole on the moving seat and is connected to the input shaft of the reducer; The feed mechanism further includes a fixed sensor block, which is fixed to the pressure sensor and the reducer mounting seat respectively, and the pressure detection is realized through the relative movement between the reducer mounting seat and the moving seat; The feeding mechanism includes a pair of linear guide rails; Both sides of the moving seat are respectively installed on a slider of a pair of linear guide rails, and both sides of the motor mounting base are respectively installed on the other slider of a pair of linear guide rails; A pair of photoelectric switches are installed on both sides of the bottom plate, and a pair of induction plates are respectively installed on the moving seat and the motor mounting seat. The front and rear positions of the power drill mechanism are limited by the cooperation of the induction plates and the photoelectric switches. 5. The orthopedic screw placement device as claimed in claim 1, wherein: The orthopedic screw placement device also includes a catheter mechanism; the catheter mechanism is installed at the front end of the base plate; The catheter mechanism includes a catheter, a catheter locking seat and a catheter base; The catheter is installed in the catheter locking seat through the through hole of the catheter locking seat; the catheter locking seat is detachably installed on the catheter base; The catheter mechanism also includes an up and down adjustment seat and an adjustment base; The conduit base is installed on the up and down adjustment base, the up and down adjustment base is installed on the adjustment base, and the adjustment base is installed on the bottom plate; the up and down adjustment base can move up and down relative to the adjustment base to adjust the height and position. 6. The orthopedic nail-setting device according to any one of claims 1-5, the orthopedic nail-setting device also includes a guide pin fixing mechanism for positioning the guide pin; the guide pin fixing mechanism includes a fixed support, a connecting A rod mounting block, a pair of clamping blocks and at least a pair of connecting rods; the fixed support is installed on the base plate, and the connecting rod mounting block is mounted on the fixed support; one end of the pair of connecting rods is movably connected The connecting rod mounting block is connected with a clamping block at the other end; the pair of clamping blocks are locked together by fasteners to clamp and fix the guide pin. 7. The orthopedic screw placement device according to claim 6, wherein the surgical tool includes one or more of a guide pin, a reaming cone, and a bone screw connected to an extender; The guide pin fixing mechanism includes a pair of long connecting rods and a pair of short connecting rods; each end of the pair of long connecting rods is rotatably installed on both sides of the connecting rod mounting block; each end of the pair of short connecting rods is respectively It is rotatably installed on both sides of the connecting rod mounting seat; the other end of a long connecting rod and a short connecting rod are connected and fixed on a clamping block; a pair of clamping blocks are locked together by thumb screws, and the The guide pin is clamped between a pair of clamping blocks. 8. The orthopedic nail placement device according to any one of claims 1-5, wherein the orthopedic nail placement device further comprises a housing and a cross laser system; the cross laser system is mounted on the front end of the housing; The orthopedic nail setting device also includes a binocular camera, the binocular camera is installed at the front end of the feeding mechanism, and is connected with the computing device or the control center; The visible light visual recognition tracking pattern adapted by the eye vision camera, tracking the navigation surface through the binocular camera, and tracking and monitoring; The orthopedic screw placement device also includes a control circuit, which is electrically and communicatively connected with the computing device and/or the control center. 9. An operating system for orthopedic implant surgery, characterized in that the system comprises the orthopedic screw placement device according to any one of claims 1 to 8 and a computing device and/or control center connected to the orthopedic nail placement device ; The computing device and/or control center includes a processor and a storage medium to obtain information of the orthopedic screw placement device for information processing and functional control of the orthopedic screw placement device.